ST X-NUCLEO-IHM04A1 User manual

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August 2015
DocID028121 Rev 1
1/17
www.st.com
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User manual
Getting started with the X-NUCLEO-IHM04A1 dual brush DC
motor driver expansion board for STM32 Nucleo
Introduction
The X-NUCLEO-IHM04A1 is a dual brush DC motor drive expansion board based on L6206 (DMOS
dual full bridge driver) to drive dual bipolar DC or quad unipolar DC motors. It provides a low cost,
robust and easy-to-use solution for driving DC motors in your STM32 Nucleo project. A flexible solution
for driving 1 to 4 DC motors is implemented via jumpers.
The X-NUCLEO-IHM04A1 is compatible with the Arduino UNO R3 connector, and supports the addition
of other expansion boards with a single STM32 Nucleo board. The user can also mount the ST Morpho
connector.
Figure 1: X-NUCLEO-IHM04A1: Dual brush DC motor driver expansion board based on L6206

Contents
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Contents
1Getting started................................................................................3
2Hardware description and configuration ......................................4
2.1 overcurrent (OCD) threshold setting ................................................5
2.2 Selecting the mode ..........................................................................6
2.2.1 Mode no. 1: two bidirectional DC motors ..........................................7
2.2.2 Mode no. 2: four DC motors unidirectional........................................7
2.2.3Mode no. 3: parallel connection for higher current - one DC motor
bidirectional .......................................................................................................8
2.2.4 Mode n °4: parallel connection for higher current - two unidirectional
DC motors .........................................................................................................9
2.2.5 Mode no. 5: parallel connection for lower overcurrent - one DC
motor bidirectional...........................................................................................10
2.2.6 Mode n °6: parallel connection for lower overcurrent - two
unidirectional DC motors.................................................................................11
2.2.7 Mode no. 7: parallel all bridges - one unidirectional DC motor .......12
3Schematic diagram....................................................................... 13
4Bill of material............................................................................... 14
5Revision history ........................................................................... 16

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Getting started
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1 Getting started
The X-NUCLEO-IHM04A1 expansion board is a dual brush DC motor driver covering a
wide range of applications. The maximum ratings of the board are the following:
Power stage supply voltage (VS) from 8 V to 50 V
Motor phase current up to 2.8 A r.m.s.
Follow this sequence to start your project with the board:
1. Check the jumper position based on your configuration (see Section 2: "Hardware
description and configuration")
2. Connect the board with the STM32 Nucleo board through Arduino UNO R3 for the X-
NUCLEO-IHM04A1
3. Supply the board through the input 6 (VS) and 5 (ground) of the connector CN1
4. Develop your application using the examples provided with the firmware library, X-
CUBE-SPN4
Further support material is available on the L6206 and the STM32 Nucleo web pages on
www.st.com

Hardware description and configuration
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2 Hardware description and configuration
Figure 2: Jumper and connector position
The following table provides the detailed pinout of the Arduino UNO R3 and ST Morpho
connectors.
Table 1: Arduino UNO R3 connector table
Connector
Pin (1)
Signal
Remarks
CN5
5
ADC-6
7
Ground
CN9
3
EN-A
5
IN2A
See Section 2.1:
"overcurrent (OCD)
threshold setting"
6
IN1A
See Section 2.1:
"overcurrent (OCD)
threshold setting"
CN6
6
Ground
7
Ground
CN8
1
IN1B
See Section 2.1:
"overcurrent (OCD)
threshold setting"
2
IN2B
See Section 2.1:
"overcurrent (OCD)
threshold setting"
3
ADC-4
5
Notes:
(1)All the non-listed pins are not connected.

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Table 2: ST Morpho connector table
Connector
Pin (1)
Signal
Remarks
CN10
9
Ground
13
ADC-6
27
IN1A
See Section 2.1:
"overcurrent (OCD)
threshold setting"
29
IN2A
See Section 2.1:
"overcurrent (OCD)
threshold setting"
33
EN-A
CN7
20
Ground
22
Ground
28
IN1B
See Section 2.1:
"overcurrent (OCD)
threshold setting"
30
IN2B
See Section 2.1:
"overcurrent (OCD)
threshold setting"
32
ADC-4
36
EN-B
Notes:
(1)All the non-listed pins are not connected.
2.1 overcurrent (OCD) threshold setting
The device integrates two overcurrent protection circuits with adjustable threshold, one for
each full bridge.
The overcurrent threshold is set through the R9 (bridge A) and R8 (bridge B) resistors, as
indicated in Figure 3: "Overcurrent threshold versus resistor value (no paralleling)".

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Figure 3: Overcurrent threshold versus resistor value (no paralleling)
When one of the paralleling modes is used (see Section 2.2: "Selecting the mode"), the
actual OCD threshold value may be scaled as indicated in Table 1: "Arduino UNO R3
connector table".
2.2 Selecting the mode
This board can drive 1 to 4 DC motors with several configurations.
The selection is done by Jumper J1 - J2 - J3 and J4, by default: all jumpers are not
populated.
The table below briefly summarizes the possible configurations:
Table 3: Board configuration summary
Mode
Max output
current
Output
RDS(on)
OCD
threshold
scaling
J1
J2
J3
J4
Two bidirectional DC
motors
2.8 A rms
0.3 Ω
× 1
Disconnect
ed
Disconnect
ed
Disconnect
ed
Disconnect
ed
Four unidirectional
DC motors
2.8 A rms (1)
0.3 Ω
× 1 (1)
Disconnect
ed
Disconnect
ed
Disconnect
ed
Disconnect
ed
High current parallel
one bidirectional DC
motor
5.6 A rms
0.15 Ω
× 2
Disconnect
ed
Disconnect
ed
Connected
Connected
High current parallel
two unidirectional DC
motors
5.6 A rms
0.15 Ω
× 2
Disconnect
ed
Disconnect
ed
Connected
Connected
Low current parallel
one DC motors
bidirectional
2.8 A rms
0.15 Ω
× 1
Connected
Connected
Disconnect
ed
Disconnect
ed
Low current parallel
two unidirectional DC
motors
2.8 A rms
0.15 Ω
× 1
Connected
Connected
Disconnect
ed
Disconnect
ed

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Mode
Max output
current
Output
RDS(on)
OCD
threshold
scaling
J1
J2
J3
J4
Parallel all bridges
one unidirectional DC
motor
11.2 A rms
0.075 Ω
× 4
Connected
Connected
Connected
Connected
Notes:
(1)The current limit is shared between the two motors connected on the same full-bridge (A or B).
2.2.1 Mode no. 1: two bidirectional DC motors
Two independent DC motors are driven by the board.
The supply voltage of both motors is connected to J1 pin 5 and 6 with a maximum voltage
at 50 V DC.
Maximum current is 2.8 A rms and the output RDS(on) is equal to 0.3 W (TJ= 25 °C).
The maximum overcurrent detection threshold is set to 5.6 A.
Motor A connected between A+ (CN1 pin1) and A- (CN1 pin2)
Motor B connected between B+ (CN1 pin4) and B- (CN1 pin3)
Table 4: Jumper selection
J1
J2
J3
J4
Disconnected
Disconnected
Disconnected
Disconnected
Figure 4: two bidirectional DC motors
2.2.2 Mode no. 2: four DC motors unidirectional
Four independent DC motors are driven by the board.
The supply voltage of both motors is connected to J1 pin 5 and 6 with a maximum voltage
of 50 V DC.

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Maximum current is 2.8 A rms and the output RDS(on) is equal to 0.3 W (TJ= 25 °C).
The maximum overcurrent detection threshold is set to 5.6 A.
The total rms current flowing in A+ and A- DC motor must be below the 2.8 A
rms limit. The OCD threshold is also triggered when the sum of the two output
currents exceeds the programmed threshold.
The same for the B+ and B- outputs.
Motor A connected between A+ (CN1 pin1) and GND
Motor B connected between A- (CN1 pin2) and GND
Motor C connected between B+ (CN1 pin4) and GND
Motor D connected between B- (CN1 pin3) and GND
Table 5: Jumper selection
J1
J2
J3
J4
Disconnected
Disconnected
Disconnected
Disconnected
Figure 5: Four unidirectional DC motors
2.2.3 Mode no. 3: parallel connection for higher current - one DC motor
bidirectional
This mode, with output power in parallel, increases the output current capability.
The motor supply voltage is connected to J1 pin 5 and 6 with a maximum voltage of 50 V
DC.
Maximum current is 5.6 A rms and the output RDS(on) is equal to 0.15 W (TJ= 25 °C).
The maximum overcurrent detection threshold is set to 11.2 A.
Motor A connected between

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Both A+ (CN1 pin1) B+ (CN1 pin4)
Both A- (CN1 pin2) B- (CN1 pin3)
Table 6: Jumper selection
J1
J2
J3
J4
Disconnected
Disconnected
Connected
Connected
Figure 6: One DC motor bidirectional - higher current
2.2.4 Mode n °4: parallel connection for higher current - two unidirectional
DC motors
This mode is similar to mode 3 - the bidirectional DC motor is replaced by two
unidirectional DC motors
Motor A connected between
Both A+ (CN1 pin1) B+ (CN1 pin4)
GND
Motor B connected between
Both A- (CN1 pin2) B- (CN1 pin3)
GND
Table 7: Jumper selection
J1
J2
J3
J4
Disconnected
Disconnected
Connected
Connected